#include "can_uim.h"


uim_ctl_desc uimCtlArr_beta1[MAX_UIM_CTL_NUM] = {

    {
        .sid = 10,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 80000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 2.4384,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 11,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 150000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 6.35,
        .loopType = OPEN_LOOP,

    },

    {
        .sid = 12,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 10000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 0,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 13,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 80000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 2.1167,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 14,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 110000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 0,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 15,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 170000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 2.54,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 16,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 15000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 71.12,
        .loopType = OPEN_LOOP,
    },

    {
        .sid = 17,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 100000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 0,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 18,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 100000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 0,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 19,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 100000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 20,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 150000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 21,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 150000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 22,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 150000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 23,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 5000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 24,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 5000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 25,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 5000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 26,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 5000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 27,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 5000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 28,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 50000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 29,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 2000000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 30,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 50000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 31,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 50000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 32,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 50000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 33,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 100000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 34,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 200000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 35,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 50000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 36,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 50000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 37,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 50000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 38,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 50000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 39,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 50000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 40,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 80000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 41,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 2000000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 42,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 500000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 43,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 50000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 44,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_UP,
        .status = 0,
        .max_distance = 32000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 45,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 32000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 46,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_UP,
        .status = 0,
        .max_distance = 32000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 47,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_UP,
        .status = 0,
        .max_distance = 32000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
};


uim_ctl_desc uimCtlArr_pcr_beta1[MAX_UIM_CTL_NUM_PCR] = {

    {
        .sid = 40,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 200000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 2.4384,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 41,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 25450,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 6.35,
        .loopType = OPEN_LOOP,

    },

    {
        .sid = 42,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 150000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 0,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 43,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 250000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 2.1167,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 44,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_UP,
        .status = 0,
        .max_distance = 150000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 0,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 45,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 35000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 2.54,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 46,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 35000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 71.12,
        .loopType = OPEN_LOOP,
    },

    {
        .sid = 47,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 150000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 0,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 48,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 41000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 0,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 49,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 150000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },

    {
        .sid = 50,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 150000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 51,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_UP,
        .status = 0,
        .max_distance = 150000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 52,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 65000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 0,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 53,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 65000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },

    {
        .sid = 54,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 65000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 55,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 65000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
};


uim_ctl_desc uimCtlArr_beta2[MAX_UIM_CTL_NUM] = {

    {
        .sid = 10,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 80000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 2.4384,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 11,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 150000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 6.35,
        .loopType = OPEN_LOOP,

    },

    {
        .sid = 12,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 10000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 0,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 13,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 80000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 2.1167,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 14,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 110000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 0,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 15,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 170000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 2.54,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 16,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 15000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 71.12,
        .loopType = OPEN_LOOP,
    },

    {
        .sid = 17,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 100000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 0,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 18,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 100000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 0,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 19,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 100000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 20,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 150000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 21,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 150000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 22,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 150000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 23,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 5000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 24,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 5000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 25,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 5000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 26,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 5000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 27,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 5000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 28,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 50000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 29,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 2000000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 30,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 50000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 31,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 50000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 32,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 50000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 33,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 100000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 34,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 200000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 35,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 50000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 36,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 50000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 37,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 50000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 38,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 50000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 39,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 50000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 40,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 80000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 41,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 2000000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 42,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 500000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 43,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 50000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 44,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_UP,
        .status = 0,
        .max_distance = 32000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 45,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_UP,
        .status = 0,
        .max_distance = 32000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 46,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_UP,
        .status = 0,
        .max_distance = 32000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 47,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_UP,
        .status = 0,
        .max_distance = 32000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
};

uim_ctl_desc uimCtlArr_pcr_beta2[MAX_UIM_CTL_NUM_PCR] = {

    {
        .sid = 40,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 200000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 2.4384,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 41,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 25450,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 6.35,
        .loopType = OPEN_LOOP,

    },

    {
        .sid = 42,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 150000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 0,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 43,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 250000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 2.1167,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 44,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_UP,
        .status = 0,
        .max_distance = 150000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 0,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 45,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 35000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 2.54,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 46,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 35000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 71.12,
        .loopType = OPEN_LOOP,
    },

    {
        .sid = 47,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 150000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 0,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 48,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 41000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 0,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 49,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 150000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },

    {
        .sid = 50,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 150000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 51,
        .ret_dir = RET_BACK_NEGITIVE,
        .retFlag = STOP_WHEN_UP,
        .status = 0,
        .max_distance = 150000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 52,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 65000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 0,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 53,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 65000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },

    {
        .sid = 54,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 65000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
    {
        .sid = 55,
        .ret_dir = RET_BACK_POSITIVE,
        .retFlag = STOP_WHEN_DOWN,
        .status = 0,
        .max_distance = 65000,
        .currPos = 0,
        .thetaPerStep = 1.8,
        .lead = 40,
        .loopType = OPEN_LOOP,
    },
};